Initial commit - sync AliceRC to Gitea

2026-08-03 15:54:25 +08:00
commit 493b7d81d7
1510 changed files with 185319 additions and 0 deletions
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+/**
+ * @file protocol.h
+ * @brief AliceRC communication protocol definitions
+ * 
+ * Matches the AliceRX_STC receiver protocol:
+ * - NRF24L01 32-byte payload
+ * - Frame ID 0xA0 for channel data
+ * - ACK payload 0xB0 for telemetry
+ * - 16 SBUS channels packed as 11-bit little-endian bitstream
+ */
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Protocol constants */
+#define FRAME_ID_CHANNELS      0xA0
+#define FRAME_ID_TELEMETRY     0xB0
+#define RF_PAYLOAD_SIZE        32
+#define RF_ADDR_SIZE           5
+#define SBUS_CHANNEL_COUNT     16
+#define SBUS_CHANNEL_BITS      11
+
+/* NRF24L01 TX payload (32 bytes) */
+typedef struct __attribute__((packed)) {
+    uint8_t frame_id;       /* 0xA0 = FRAME_ID_CHANNELS */
+    uint8_t seq;            /* Sequence number, wraps around */
+    uint8_t model_id;       /* Currently selected model ID */
+    uint8_t flags;          /* Flags (reserved for future use) */
+    uint8_t sbus_data[22];  /* 16 channels × 11 bit = 176 bit, little-endian */
+    uint8_t reserved[6];    /* Reserved for future use */
+} rf_tx_payload_t;
+
+/* NRF24L01 ACK payload from receiver (32 bytes) */
+typedef struct __attribute__((packed)) {
+    uint8_t frame_id;       /* 0xB0 = FRAME_ID_TELEMETRY */
+    uint8_t seq;            /* Sequence number */
+    uint16_t battery_mv;    /* Battery voltage in mV (big-endian) */
+    uint8_t reserved[28];   /* Reserved for future use */
+} rf_rx_telemetry_t;
+
+/* SBUS channel value range */
+#define SBUS_MIN        200
+#define SBUS_CENTER     1024
+#define SBUS_MAX        1844
+
+/* Function declarations */
+
+/* Initialize protocol module */
+void protocol_init(void);
+
+/* Pack SBUS channels into 22-byte bitstream */
+void protocol_pack_sbus(const uint16_t *channels, uint8_t *sbus_data);
+
+/* Unpack SBUS channels from 22-byte bitstream */
+void protocol_unpack_sbus(const uint8_t *sbus_data, uint16_t *channels);
+
+/* Build TX payload from ADC channel values */
+void protocol_build_tx_payload(rf_tx_payload_t *payload, 
+                               const uint16_t *adc_channels, 
+                               uint8_t model_id,
+                               uint8_t seq);
+
+/* Parse telemetry data from receiver */
+void protocol_parse_telemetry(const rf_rx_telemetry_t *telemetry,
+                              uint16_t *battery_mv);
+
+/* Map ADC value (0-4095) to SBUS range (200-1844) */
+uint16_t protocol_map_to_sbus(uint16_t adc_value);
+
+#ifdef __cplusplus
+}
+#endif